/// <summary>
/// Instructs Vehicle Entity to always stay on the provided path. Entity will move to the nearest point
/// </summary>
/// <param name="vehicle"></param>
/// <param name="predictionTime"></param>
/// <param name="path"></param>
/// <returns>The Vector to move to</returns>
public static Vector3 StayOnPath(VehicleActor vehicle, float predictionTime, Pathway path)
{
// predict our future position
Vector3 futurePosition = vehicle.PredictFuturePosition(predictionTime);
// find the point on the path nearest the predicted future position
Vector3 tangent;
float outside;
Vector3 onPath = path.MapPointToPath(futurePosition, out tangent, out outside);
if (outside < 0)
{
// our predicted future position was in the path,
// return zero steering.
return(Vector3.Zero);
}
else
{
// our predicted future position was outside the path, need to
// steer towards it. Use onPath projection of futurePosition
// as seek target
//log PathFollowing(futurePosition, onPath, onPath, outside);
return(Seek(vehicle, onPath));
}
}
/// <summary>
/// Instructs a Vehicle Entity to follow a defined path (pathway), within the defined predicted timeframe
/// </summary>
/// <param name="vehicle"></param>
/// <param name="direction"></param>
/// <param name="predictionTime"></param>
/// <param name="path"></param>
/// <returns>The Vector to move to</returns>
public static Vector3 FollowPath(VehicleActor vehicle, int direction, float predictionTime, Pathway path)
{
// our goal will be offset from our path distance by this amount
float pathDistanceOffset = direction * predictionTime * vehicle.Velocity;
// predict our future position
Vector3 futurePosition = vehicle.PredictFuturePosition(predictionTime);
// measure distance along path of our current and predicted positions
float nowPathDistance = path.MapPointToPathDistance(vehicle.Position);
float futurePathDistance = path.MapPointToPathDistance(futurePosition);
// are we facing in the correction direction?
bool rightway = ((pathDistanceOffset > 0) ?
(nowPathDistance < futurePathDistance) :
(nowPathDistance > futurePathDistance));
// find the point on the path nearest the predicted future position
// XXX need to improve calling sequence, maybe change to return a
// XXX special path-defined object which includes two Vector3s and a
// XXX bool (onPath,tangent (ignored), withinPath)
Vector3 tangent;
float outside;
Vector3 onPath = path.MapPointToPath(futurePosition, out tangent, out outside);
// no steering is required if (a) our future position is inside
// the path tube and (b) we are facing in the correct direction
if ((outside < 0) && rightway)
{
// all is well, return zero steering
return(Vector3.Zero);
}
else
{
// otherwise we need to steer towards a target point obtained
// by adding pathDistanceOffset to our current path position
float targetPathDistance = nowPathDistance + pathDistanceOffset;
Vector3 target = path.MapPathDistanceToPoint(targetPathDistance);
//log PathFollowing(futurePosition, onPath, target, outside);
// return steering to seek target on path
return(Seek(vehicle, target));
}
}
/// <summary>
/// Should the force be calculated?
/// </summary>
/// <returns>
/// A <see cref="Vector3"/>
/// </returns>
protected override Vector3 CalculateForce()
{
if (_path == null || _path.SegmentCount < 2)
{
return(Vector3.zero);
}
// our goal will be offset from our path distance by this amount
float pathDistanceOffset = (int)_direction * _predictionTime * Vehicle.Speed;
// predict our future position
Vector3 futurePosition = Vehicle.PredictFuturePosition(_predictionTime);
// measure distance along path of our current and predicted positions
float nowPathDistance = _path.MapPointToPathDistance(Vehicle.Position);
float futurePathDistance = _path.MapPointToPathDistance(futurePosition);
// are we facing in the correction direction?
bool rightway = ((pathDistanceOffset > 0) ? (nowPathDistance < futurePathDistance) : (nowPathDistance > futurePathDistance));
// find the point on the path nearest the predicted future position
var tStruct = new PathRelativePosition();
_path.MapPointToPath(futurePosition, ref tStruct);
// no steering is required if (a) our future position is inside
// the path tube and (b) we are facing in the correct direction
if ((tStruct.outside < 0) && rightway)
{
// TODO Evaluate. This assumes the vehicle has inertia, and would stop if inside the path tube
return(Vector3.zero);
}
else
{
/*
* Otherwise we need to steer towards a target point obtained
* by adding pathDistanceOffset to our current path position.
*
* Notice that this method does not steer for the point in the
* path that is closest to our future position, which is why
* the return value of MapPointToPath is ignored above. Instead,
* it estimates how far the vehicle will move in units, and then
* aim for the point in the path that is that many units away
* from our current path position _in path length_. This means
* that it adds up the segment lengths and aims for the point
* that is N units along the length of the path, which can imply
* bends and turns and is not a straight vector projected away
* from our position.
*
* This also means that having too high a prediction time will
* have the effect of the agent seemingly approaching the path
* in an elliptical manner.
*/
float targetPathDistance = nowPathDistance + pathDistanceOffset;
var target = _path.MapPathDistanceToPoint(targetPathDistance);
// return steering to seek target on path
var seek = Vehicle.GetSeekVector(target);
return(seek);
}
}